LuckyRobots/LuckyWorldV2
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Pathfinding Updates

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- Improved Navigation / Path Generation
* Still need to set up the agent radius to fit the arm or whatever dynamic component on a robot
This commit is contained in:
Vyktori 2025-04-24 21:32:16 -04:00
parent 966c3ed39d
commit cbb0bc5fc2
6 changed files with 11 additions and 5 deletions
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1
Config/DefaultEngine.ini
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@ -324,3 +324,4 @@ MaxAgentRadius=100.000000
+ActiveGameNameRedirects=(OldGameName="/Script/TP_VehicleAdv",NewGameName="/Script/LuckyWorldV2")
+ActiveGameNameRedirects=(OldGameName="Luckyrobots",NewGameName="/Script/LuckyWorldV2")
+ActiveGameNameRedirects=(OldGameName="/Script/Luckyrobots",NewGameName="/Script/LuckyWorldV2")

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Content/Blueprint/Mujoco/BP_MujocoSettingsStretchV1.uasset
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Content/Developers/Wdev/Robots/BP_Stretch.uasset
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Content/Map/EmptyTestLevel.umap
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12
Source/LuckyWorldV2/Private/Gameplay/Robot/Data/RobotSettings.cpp
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@ -59,6 +59,8 @@ void FRobotSplinePath::RegenerateSplinePathValues()
constexpr float SplinePredictionTime = 1.f;
constexpr float SplinePredictionDistanceMin = 64.f;
const float SpeedLimit = GetRobot()->RobotSettings.SpeedLimit;
const float TurnSpeedLimit = GetRobot()->RobotSettings.TurnSpeedLimit;
const float TurnSpeedMod = UKismetMathLibrary::SafeDivide(TurnSpeedLimit, SpeedLimit);
const float TargetSpeed = FMath::Min<float>(GetRobot()->GetTargetSpeed(), SpeedLimit);
const float SplinePredictionDistance = FMath::Max<float>(SplinePredictionTime * TargetSpeed, SplinePredictionDistanceMin);
constexpr float TangentClamp = 128.f;
@ -103,13 +105,12 @@ void FRobotSplinePath::RegenerateSplinePathValues()
GetSplinePath()->UpdateSpline();
const float SplineLength = GetSplinePath()->GetSplineLength();
SplinePathSpeedModifier.EditorCurveData.Reset();
constexpr float MinSpeedMod = 0.2f;
constexpr float MinSpeedMod = 0.4f;
constexpr float SplinePrecision = 10.f;
if (bSingleInput)
{
constexpr float SectionSpeedMod = 0.4f;
const float SectionSpeedClamp = FMath::Min<float>(SpeedLimit * SectionSpeedMod, TargetSpeed);
const float SectionSpeedClamp = FMath::Min<float>(SpeedLimit * MinSpeedMod, TargetSpeed);
const float DecelerationStep = SplinePredictionDistance + SplinePrecision;
SplinePathSpeedModifier.EditorCurveData.AddKey(0.f, SectionSpeedClamp);
SplinePathSpeedModifier.EditorCurveData.AddKey(SplineLength, TargetSpeed * MinSpeedMod);
@ -170,10 +171,11 @@ void FRobotSplinePath::RegenerateSplinePathValues()
const float DistanceToPathEnd = SplineLength - SplineDistance;
const float PathEndMod = DistanceToPathEnd <= SplinePredictionDistance ? FMath::Max<float>(UKismetMathLibrary::SafeDivide(DistanceToPathEnd, SplinePredictionDistance), 0.f) : 1.f;
const FVector IntervalTangent = GetSplinePath()->GetTangentAtDistanceAlongSpline(SplineDistance, ESplineCoordinateSpace::Local);
const float IntervalCurve = FMath::Min<float>(IntervalTangent.Length(), TangentClamp);
const float IntervalCurve = FMath::Min<float>(TangentClamp, IntervalTangent.Length());
const float IntervalAlpha = FMath::Max<float>(1.f - UKismetMathLibrary::SafeDivide(IntervalCurve, TangentClamp), 0.f);
const float SpeedMod = (MaxSpeedMod - IntervalAlpha) * PathEndMod;
const float ClampedSpeed = FMath::Max<float>(SpeedLimit * SpeedMod, SpeedLimit * MinSpeedMod);
const float ClampedSpeed = FMath::Max<float>(SpeedLimit * SpeedMod, SpeedLimit * TurnSpeedMod);
UE_LOG(LogTemp, Warning, TEXT("SpeedMod :: (%f - %f) * %f = %f"), MaxSpeedMod, IntervalAlpha, PathEndMod, SpeedMod);
SplinePathSpeedModifier.EditorCurveData.AddKey(SplineDistance, ClampedSpeed);
}
}

3
Source/LuckyWorldV2/Public/Gameplay/Robot/Data/RobotSettings.h
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@ -36,6 +36,9 @@ struct FRobotSettings
UPROPERTY(BlueprintReadWrite, EditDefaultsOnly, Category = "Robot Settings")
float SpeedLimit = 15.f;
UPROPERTY(BlueprintReadWrite, EditDefaultsOnly, Category = "Robot Settings")
float TurnSpeedLimit = 10.f;
UPROPERTY(BlueprintReadWrite, EditDefaultsOnly, Category = "Robot Settings")
TSubclassOf<AMujocoVolumeActor> MujocoSettings;